A satellite data quality detection method, device, system and mobile terminal

Abstract

The application provides a satellite data quality detection method, device and system and a mobile terminal, and relates to the technical field of satellite data processing. The method comprises the following steps: acquiring satellite data of a reference station, wherein the satellite data comprises observation data and ephemeris data received by the satellite at N ephemeris time points, N is an integer greater than 1; performing quality calculation on the satellite data to obtain a quality calculation result, wherein the quality calculation result comprises a first quality parameter, and the first quality parameter is used to indicate the elevation angle change rate of the satellite; and determining the accuracy of satellite ephemeris data and the quality of satellite observation data according to the quality calculation result. The method provided in the application embodiment can determine the accuracy of satellite ephemeris data by calculating the elevation angle change rate of the satellite, solve the problem that the satellite elevation angle calculation is incorrect due to the fact that the ephemeris data is not detected and determined, and further cannot guarantee the accuracy of satellite data quality detection, and guarantee the reliability of satellite observation data quality detection.

Description

Technical Field

[0001] This invention relates to the field of satellite data processing technology, and in particular to a method, apparatus, system, and mobile terminal for quality inspection of satellite data. Background Technology

[0002] With the development and popularization of satellite positioning, communication, and computer network technologies, the application of Global Navigation Satellite System (GNSS) positioning technology is becoming increasingly widespread. Satellites, evenly distributed across different orbital planes, transmit collected satellite data to a receiver located at a reference station via satellite signals. If signal interference sources exist around the reference station, they will affect the satellite signals, leading to poor quality or errors in the satellite data received by the reference station. The quality of satellite data is a crucial indicator affecting actual positioning accuracy. However, current satellite data detection methods do not assess the correctness of ephemeris data. Incorrect ephemeris data can cause errors in satellite elevation angle calculations, thus compromising the reliability of satellite data quality detection. Summary of the Invention

[0003] The purpose of this invention is to provide a method, apparatus, system, and mobile terminal for satellite data quality inspection, in order to solve the problem that the existing technology does not detect and judge the correctness of ephemeris data, and that incorrect ephemeris data will lead to errors in satellite elevation angle calculation, thus failing to guarantee the accuracy of satellite data quality inspection.

[0004] To achieve the above objectives, embodiments of the present invention provide a satellite data quality inspection method, comprising:

[0005] Acquire satellite data from the reference station, the satellite data including observation data and ephemeris data received by the satellite at N epochs, where N is an integer greater than 1;

[0006] The satellite data is subjected to quality calculation to obtain quality calculation results, the quality calculation results including a first quality parameter, the first quality parameter being used to indicate the rate of change of the satellite's elevation angle;

[0007] Based on the quality calculation results, the accuracy of the satellite ephemeris data is determined.

[0008] Optionally, the satellite data is subjected to quality calculation to obtain quality calculation results, including:

[0009] The satellite data is converted to a preset format to obtain first satellite data.

[0010] Based on the first satellite data, calculate the approximate coordinates of the reference station;

[0011] Based on the satellite data and the approximate coordinates, the quality of the satellite data is calculated to obtain the quality calculation result.

[0012] Optionally, the mass calculation result may further include at least one second mass parameter;

[0013] Determining the accuracy of the satellite data based on the quality calculation results includes:

[0014] Determine whether the first and second quality parameters in the quality calculation results meet the preset standards;

[0015] If either the first quality parameter or the second quality parameter does not meet the preset standard, then the satellite data is determined to contain an error.

[0016] Optionally, the second quality parameter includes at least one of the following:

[0017] The completeness rate, multipath value, cycle slip ratio, average signal-to-noise ratio, ionospheric residual combination change rate, and MW combination difference of satellite data within a preset time period.

[0018] Optionally, after obtaining the quality calculation result, the process includes:

[0019] The second quality parameter is sampled according to the time series to obtain the third quality parameter, and the third quality parameter is saved.

[0020] Optionally, determining whether the first and second quality parameters in the quality calculation result meet a preset standard includes at least one of the following:

[0021] If the rate of change of the satellite's elevation angle is greater than a first threshold, then it is determined that the rate of change of the satellite's elevation angle does not meet the preset standard.

[0022] If the integrity rate of the satellite data is less than the second threshold, then it is determined that the integrity rate of the satellite data does not meet the preset standard.

[0023] If the cycle slip ratio of the satellite data is less than the third threshold, then it is determined that the cycle slip ratio of the satellite data does not meet the preset standard.

[0024] Optionally, after determining that the satellite data contains errors, the method further includes:

[0025] Perform cluster analysis on the target quality parameters and output the cluster analysis results;

[0026] The clustering analysis results include:

[0027] The target quality parameters correspond to the time interval and azimuth interval of the satellite data.

[0028] Optionally, the method further includes:

[0029] Based on the target quality parameters, a time series chart of the satellite is obtained.

[0030] Optionally, the method further includes:

[0031] A quality inspection report is generated based on the quality calculation results, the cluster analysis results, and the time series chart.

[0032] To achieve the above objectives, embodiments of the present invention provide a satellite data quality inspection apparatus, comprising:

[0033] The acquisition module is used to acquire satellite data from the reference station. The satellite data includes observation data and ephemeris data received by the satellite at N epochs, where N is an integer greater than 1.

[0034] The calculation module is used to perform quality calculations on the satellite data and obtain quality calculation results. The quality calculation results include a first quality parameter, which is used to indicate the rate of change of the satellite's elevation angle.

[0035] The determination module is used to determine the accuracy of the satellite ephemeris data based on the quality calculation results.

[0036] Optionally, the computing module is further configured to:

[0037] The satellite data is converted to a preset format to obtain first satellite data.

[0038] Based on the first satellite data, calculate the approximate coordinates of the reference station;

[0039] Based on the satellite data and the approximate coordinates, the quality of the satellite data is calculated to obtain the quality calculation result.

[0040] Optionally, the mass calculation result may further include at least one second mass parameter;

[0041] The determining module includes:

[0042] The judgment unit is used to determine whether the first mass parameter and the second mass parameter in the mass calculation result meet the preset standard.

[0043] The determining unit is configured to determine that the satellite data contains an error if either the first quality parameter or the second quality parameter does not meet the preset standard.

[0044] Optionally, the device further includes:

[0045] The storage module is used to sample the second quality parameter according to the time series to obtain the third quality parameter, and to store the third quality parameter.

[0046] Optionally, the determining unit is further configured to:

[0047] If the rate of change of the satellite's elevation angle is greater than a first threshold, then it is determined that the rate of change of the satellite's elevation angle does not meet the preset standard.

[0048] If the integrity rate of the satellite data is less than the second threshold, then it is determined that the integrity rate of the satellite data does not meet the preset standard.

[0049] If the cycle slip ratio of the satellite data is less than the third threshold, then it is determined that the cycle slip ratio of the satellite data does not meet the preset standard.

[0050] Optionally, the device further includes:

[0051] The analysis module is used to perform cluster analysis on the target quality parameters and output the cluster analysis results;

[0052] The clustering analysis results include:

[0053] The target quality parameters correspond to the time interval and azimuth interval of the satellite data.

[0054] Optionally, the device further includes:

[0055] The plotting module is used to obtain the time series chart of the satellite based on the target quality parameters.

[0056] Optionally, the device further includes:

[0057] The generation module is used to generate a quality inspection report based on the quality calculation results, the cluster analysis results, and the time series chart.

[0058] To achieve the above objectives, embodiments of the present invention provide a satellite data quality inspection system, comprising: a transceiver and a processor;

[0059] The transceiver is used to acquire satellite data from the reference station. The satellite data includes observation data and ephemeris data received by the satellite at N epochs, where N is an integer greater than 1.

[0060] The processor is used to perform quality calculations on the satellite data to obtain quality calculation results, the quality calculation results including a first quality parameter, the first quality parameter being used to indicate the rate of change of the satellite's elevation angle; and

[0061] Based on the quality calculation results, the accuracy of the satellite ephemeris data is determined.

[0062] To achieve the above objectives, embodiments of the present invention provide a mobile terminal, including a transceiver, a processor, a memory, and a program or instructions stored in the memory and executable on the processor; when the processor executes the program or instructions, it implements the satellite data quality detection method as described above.

[0063] To achieve the above objectives, embodiments of the present invention provide a readable storage medium having a program or instructions stored thereon, which, when executed by a processor, implement the steps in the satellite data quality detection method described above.

[0064] The beneficial effects of the above-described technical solution of the present invention are as follows:

[0065] This invention discloses a satellite data quality detection method that acquires satellite data from a reference station; performs quality calculations on the satellite data to obtain a quality calculation result, the result including a first quality parameter indicating the rate of change of the satellite's elevation angle; and determines the accuracy of the satellite ephemeris data and the quality of the satellite observation data based on the quality calculation result. This solution, by calculating the rate of change of the satellite's elevation angle, determines the accuracy of the satellite ephemeris data, ensuring the reliability of satellite observation data quality detection and improving the accuracy of actual satellite positioning. Attached Figure Description

[0066] Figure 1 This is a flowchart of a satellite data quality detection method according to an embodiment of the present invention;

[0067] Figure 2 This is a schematic diagram illustrating the results of cluster analysis on target quality parameters according to an embodiment of the present invention;

[0068] Figure 3 This is a logical schematic diagram of the satellite data quality detection method according to an embodiment of the present invention;

[0069] Figure 4 This is a schematic diagram of the satellite data quality detection device according to an embodiment of the present invention;

[0070] Figure 5 This is a structural diagram of the satellite data quality inspection system according to an embodiment of the present invention;

[0071] Figure 6 This is a schematic diagram of the structure of a mobile terminal according to an embodiment of the present invention. Detailed Implementation

[0072] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0073] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0074] In various embodiments of the present invention, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0075] In addition, the terms "system" and "network" are often used interchangeably in this article.

[0076] In the embodiments provided in this application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0077] like Figure 1 As shown, an embodiment of the present invention provides a method for quality inspection of satellite data, comprising:

[0078] Step 101: Obtain satellite data from the reference station. The satellite data includes observation data and ephemeris data received by the satellite at N epochs, where N is an integer greater than 1.

[0079] Step 102: Perform quality calculation on the satellite data to obtain quality calculation results. The quality calculation results include a first quality parameter, which is used to indicate the rate of change of the satellite's elevation angle.

[0080] Step 103: Determine the accuracy of the satellite ephemeris data based on the quality calculation results.

[0081] Satellite positioning includes differential GPS (DGPS). Differential GPS uses a reference station with known precise three-dimensional coordinates to obtain pseudorange correction or position correction, and then sends this correction to the user in real time or afterward to correct the user's measurement data.

[0082] Optionally, the satellite data includes: observation data and ephemeris data; the observation data includes: pseudorange observations, phase observations, carrier frequency, number of observations, cycle slips, and phase observations.

[0083] It should be noted that the satellite data quality detection method in this application embodiment is applied to a terminal.

[0084] This invention discloses a satellite data quality detection method that acquires satellite data from a reference station; performs quality calculations on the satellite data to obtain a quality calculation result, the result including a first quality parameter indicating the rate of change of the satellite's elevation angle; and determines the accuracy of the satellite ephemeris data and the quality of the satellite observation data based on the quality calculation result. This solution, by calculating the rate of change of the satellite's elevation angle, determines the accuracy of the satellite ephemeris data, ensuring the reliability of satellite observation data quality detection and improving the accuracy of actual satellite positioning.

[0085] Optionally, the satellite data is subjected to quality calculation to obtain quality calculation results, including:

[0086] The satellite data is converted to a preset format to obtain first satellite data.

[0087] Based on the first satellite data, calculate the approximate coordinates of the reference station;

[0088] Based on the satellite data and the approximate coordinates, the quality of the satellite data is calculated to obtain the quality calculation result.

[0089] It should be noted that the reference station includes reference stations with approximate coordinate calculation capabilities and reference stations without such capabilities. When the reference station lacks approximate coordinate calculation capabilities, the acquired satellite data undergoes format conversion to become a first satellite data in a preset format. The preset format includes satellite data in RTCM or RINEX format; optionally, the RTCM format satellite data is RTCM 3.3 data or higher, and the RINEX format satellite data is RINEX 3.02 data.

[0090] Optionally, based on the satellite data and the approximate coordinates of the reference station, the elevation angle of the satellite at N epochs is calculated; and the rate of change of the elevation angle of the satellite is calculated.

[0091] Wherein, the first satellite data and the rate of change of the satellite's elevation angle = (the elevation angle of the satellite at the current moment - the elevation angle of the satellite at the previous moment) / (the current epoch - the previous epoch).

[0092] The satellite data quality inspection method of this application involves converting the data format to obtain first satellite data in a preset format, and then calculating the approximate coordinates of a reference station based on the first satellite data and performing quality calculations on the satellite data. This application's solution determines the accuracy of satellite ephemeris data and the quality of satellite observation data by calculating the rate of change of the satellite's elevation angle, ensuring the reliability of satellite observation data quality inspection and improving the accuracy of actual satellite positioning.

[0093] Optionally, the mass calculation result may further include at least one second mass parameter;

[0094] Determining the accuracy of the satellite data based on the quality calculation results includes:

[0095] Determine whether the first and second quality parameters in the quality calculation results meet the preset standards;

[0096] If either the first quality parameter or the second quality parameter does not meet the preset standard, then the satellite data is determined to contain an error.

[0097] Optionally, when either the first quality parameter or the second quality parameter fails to meet the preset standard, a warning message is issued.

[0098] The satellite data quality detection method in this application selects target quality parameters by identifying quality calculation results that do not meet preset standards. This scheme determines the accuracy of satellite ephemeris data and the quality of satellite observation data by comparing the calculation results with the data, eliminating erroneous satellite observation data, thereby improving the accuracy of actual satellite positioning.

[0099] Optionally, the second quality parameter includes at least one of the following:

[0100] The completeness rate, multipath value, cycle slip ratio, average signal-to-noise ratio, ionospheric residual combination change rate, and MW combination difference of satellite data within a preset time period.

[0101] It should be noted that the integrity rate of satellite data reflects whether there are significant obstructions around the reference station;

[0102] The multipath effect refers to the fact that in addition to receiving the signal directly transmitted by the satellite, the receiver set up at the reference station also detects the signal reflected once or multiple times from the surface of objects near the reference station. The time delay effect produced by the superposition of these signals from different paths with the satellite signal can be represented by the multipath value, which directly reflects the environmental quality around the station.

[0103] Cycle slip refers to an error in counting integer cycles during continuous carrier phase measurements by a receiver set up at a reference station, resulting in a jump of an integer number of cycles in the phase observation value compared to the normal value. The cycle slip ratio is an important indicator of satellite data quality. The smaller the cycle slip ratio, the more severe the cycle slip, and the greater the potential for interference sources in the surrounding area.

[0104] The average signal-to-noise ratio is the ratio of useful information to other noise in satellite data, and it is related to the satellite condition and the environmental conditions of the reference station.

[0105] Optionally, the preset standard for the first quality parameter is a first threshold; the preset standard for satellite data integrity rate is a second threshold; and the preset standard for cycle slip of satellite data is a third threshold.

[0106] The satellite data quality detection method of this application obtains a second quality calculation result by calculating the integrity rate, multipath value, cycle slip ratio, average signal-to-noise ratio, ionospheric residual combination change rate, and MW combination difference of satellite data within a preset time period. This result is used to characterize the quality of satellite data. The accuracy of satellite ephemeris data is judged by comparing it with a preset standard, thus providing data support for the quality detection of satellite observation data.

[0107] Optionally, after obtaining the quality calculation result, the process includes:

[0108] The second quality parameter is sampled according to the time series to obtain the third quality parameter, and the third quality parameter is saved.

[0109] The satellite data quality detection method of this application sample and saves satellite time-series data, reducing memory consumption while ensuring data reliability.

[0110] Optionally, determining whether the first and second quality parameters in the quality calculation result meet a preset standard includes at least one of the following:

[0111] If the rate of change of the satellite's elevation angle is greater than a first threshold, then it is determined that the rate of change of the satellite's elevation angle does not meet the preset standard.

[0112] If the integrity rate of the satellite data is less than the second threshold, then it is determined that the integrity rate of the satellite data does not meet the preset standard.

[0113] If the cycle slip ratio of the satellite data is less than the third threshold, then it is determined that the cycle slip ratio of the satellite data does not meet the preset standard.

[0114] Optionally, if the rate of change of the satellite's elevation angle is greater than a preset threshold (e.g., 1 degree / second), then the satellite data is considered to be erroneous, and the satellite will be excluded during the quality inspection process, thus ensuring the accuracy of the quality inspection results.

[0115] Optionally, if the integrity rate of the satellite data is less than the second threshold (i.e., it does not meet the azimuth-data missing indicator), then the satellite data is erroneous, and it is determined that the reference station has high object obstruction in certain azimuth intervals or at certain times.

[0116] Optionally, if the cycle slip ratio of the satellite data is less than the third threshold (i.e., it does not meet the azimuth-missing cycle slip flag), then the satellite data is erroneous, and it is determined that the reference station has received electromagnetic interference in certain azimuth intervals or at certain times.

[0117] Optionally, after determining that the satellite data contains errors, the method further includes:

[0118] Perform cluster analysis on the target quality parameters and output the cluster analysis results;

[0119] The clustering analysis results include:

[0120] The target quality parameters correspond to the time interval and azimuth interval of the satellite data.

[0121] Optionally, when the data integrity rate does not meet the preset standard for azimuth angle-data missing markers, data missing marker time series, etc., DBSCAN cluster analysis is performed respectively, and the cluster analysis results are output. Based on the cluster analysis results, it is determined whether the reference station is occluded in certain azimuth angle intervals or certain time periods. It can automatically generate occluded azimuth angle intervals and time intervals without manual intervention, is highly efficient, has a short processing time, and can be processed in batches.

[0122] Optionally, for cycle slips (ratios) that do not conform to the preset criteria such as "azimuth angle - missing cycle slip flag" or the time sequence of missing cycle slip flags, DBSCAN cluster analysis is performed, and the cluster analysis results are output. Based on the cluster analysis results, it is determined whether the reference station is subject to electromagnetic interference in certain azimuth angle intervals or time periods. It can automatically generate azimuth angle intervals and time intervals with electromagnetic interference, requiring no manual intervention, and is highly efficient, time-saving, and capable of batch processing.

[0123] like Figure 2As shown, three clusters, A, B, and C, are obtained by clustering the "azimuth-data missing marker" data or the "azimuth-cycle slip marker" data. The azimuths corresponding to the center point of each cluster are A0, B0, and C0, respectively, and the azimuth intervals corresponding to each cluster are [A1,A2], [B1,B2], and [C1,C2], respectively. The number of data samples in each cluster are Na, Nb, and Nc, respectively. It can be seen that when the azimuth is contained in [A1,A2], [B1,B2], and [C1,C2], the station is obstructed or experiences electromagnetic interference, leading to data missing or cycle slips. Therefore, on-site maintenance personnel should check the environment of the station in these azimuth intervals. Similarly, based on the clustering results of the data missing marker time series and cycle slip marker time series, it can be determined whether the station experiences obstruction or electromagnetic interference during certain time periods, thus affecting positioning accuracy.

[0124] The satellite data quality detection method of this application embodiment obtains cluster analysis results by performing cluster analysis on target quality parameters that do not meet the preset standards in the quality calculation results. The cluster analysis results of this scheme can automatically generate azimuth intervals and time intervals with obstruction or electromagnetic interference, providing data support for environmental intervention plans for on-site maintenance personnel based on azimuth and time series data. The data is accurate, reliable, and efficient with short processing time.

[0125] Optionally, the method further includes:

[0126] Based on the target quality parameters, a time series chart of the satellite is obtained.

[0127] Optionally, the time series chart of the satellite includes: satellite elevation angle, satellite altitude angle, azimuth angle, multipath value, ionospheric residual combination change rate, MW combination difference, and signal-to-noise ratio information.

[0128] The satellite data quality detection method in this application embodiment only plots time-series charts of target quality parameters that do not meet the preset standards in the quality calculation results, which more intuitively displays the results of satellite data quality detection and improves the readability of the charts.

[0129] Optionally, the method further includes:

[0130] A quality inspection report is generated based on the quality calculation results, the cluster analysis results, and the time series chart.

[0131] Optionally, only the clustering analysis results may be displayed in the detection report.

[0132] The satellite data quality inspection method of this application presents the satellite data quality inspection results in the form of an inspection report. It can also filter out poor satellite data by setting preset standards and display them in the inspection report, thereby improving the readability of the inspection report.

[0133] like Figure 3 As shown, the logic of the satellite data quality detection method in this application embodiment is as follows:

[0134] Obtain satellite data from the reference station;

[0135] The satellite data is converted to a preset format to obtain first satellite data.

[0136] If the first satellite data includes the approximate coordinates of the reference station, then the quality of the satellite data is calculated based on the satellite data and the approximate coordinates;

[0137] If the approximate coordinates of the reference station are not present in the first satellite data, then the approximate coordinates of the reference station are calculated before mass calculation; wherein, the unit fixed-point coordinates of the reference station in the first M epochs are the approximate coordinates of the reference station, and M is a positive integer;

[0138] Generate an Ephflag flag indicating whether the satellite data has been adjusted incorrectly;

[0139] If Ephflag is true, then there is an error in the satellite data, a warning is issued, the time series data of the satellite is deleted, and the satellite is marked.

[0140] If Ephflag is false, then determine whether the quality calculation result meets the preset standard;

[0141] If the quality calculation results contain target quality parameters that do not meet the preset standards, then there is an error in the satellite data. Cluster analysis is performed on the target quality parameters, and a satellite time series chart is drawn.

[0142] A quality inspection report is generated based on the quality calculation results, the cluster analysis results, and the time series chart.

[0143] like Figure 4 As shown in the illustration, this application embodiment also provides a satellite data quality inspection device 400, comprising:

[0144] The acquisition module 401 is used to acquire satellite data from the reference station. The satellite data includes observation data and ephemeris data received by the satellite at N epochs, where N is an integer greater than 1.

[0145] Calculation module 402 is used to perform quality calculation on the satellite data and obtain quality calculation results. The quality calculation results include a first quality parameter, which is used to indicate the rate of change of the satellite's elevation angle.

[0146] The determination module 403 is used to determine the accuracy of the satellite ephemeris data based on the mass calculation results.

[0147] The satellite data quality detection device of this invention acquires satellite data from a reference station; performs quality calculations on the satellite data to obtain quality calculation results, the quality calculation results including a first quality parameter, which indicates the rate of change of the satellite's elevation angle; and determines the accuracy of the satellite ephemeris data and the quality of the satellite observation data based on the quality calculation results. This application's solution, by calculating the rate of change of the satellite's elevation angle, determines the accuracy of the satellite ephemeris data, ensuring the reliability of satellite observation data quality detection and improving the accuracy of actual satellite positioning.

[0148] Optionally, the computing module is further configured to:

[0149] The satellite data is converted to a preset format to obtain first satellite data.

[0150] Based on the first satellite data, calculate the approximate coordinates of the reference station;

[0151] Based on the satellite data and the approximate coordinates, the quality of the satellite data is calculated to obtain the quality calculation result.

[0152] The satellite data quality inspection device of this application converts the data format to obtain first satellite data in a preset format, and calculates the approximate coordinates of the reference station based on the first satellite data and performs quality calculations on the satellite data. This application's solution determines the accuracy of satellite ephemeris data by calculating the rate of change of the satellite's elevation angle, ensuring the reliability of satellite observation data quality inspection and improving the accuracy of actual satellite positioning.

[0153] Optionally, the mass calculation result may further include at least one second mass parameter;

[0154] The determining module includes:

[0155] The judgment unit is used to determine whether the first mass parameter and the second mass parameter in the mass calculation result meet the preset standard.

[0156] The determining unit is configured to determine that the satellite data contains an error if at least one of the first quality parameter and the second quality parameter does not meet the target quality parameter of the preset standard.

[0157] The satellite data quality detection device in this application selects target quality parameters by determining quality calculation results that do not meet preset standards. This solution, through comparison with the calculation results, determines the accuracy of satellite ephemeris data, eliminates erroneous satellite observation data, and thereby improves the accuracy of actual satellite positioning.

[0158] Optionally, the device further includes:

[0159] The storage module is used to sample the second quality parameter according to the time series to obtain the third quality parameter, and to store the third quality parameter.

[0160] The satellite data quality inspection device in this application sample and saves satellite time-series data, reducing memory consumption while ensuring data reliability.

[0161] Optionally, the determining unit is further configured to:

[0162] If the rate of change of the satellite's elevation angle is greater than a first threshold, then it is determined that the rate of change of the satellite's elevation angle does not meet the preset standard.

[0163] If the integrity rate of the satellite data is less than the second threshold, then it is determined that the integrity rate of the satellite data does not meet the preset standard.

[0164] If the cycle slip ratio of the satellite data is less than the third threshold, then it is determined that the cycle slip ratio of the satellite data does not meet the preset standard.

[0165] Optionally, the device further includes:

[0166] The analysis module is used to perform cluster analysis on the target quality parameters and output the cluster analysis results;

[0167] The clustering analysis results include:

[0168] The target quality parameters correspond to the time interval and azimuth interval of the satellite data.

[0169] The satellite data quality inspection device of this application embodiment obtains cluster analysis results by performing cluster analysis on target quality parameters that do not meet the preset standards in the quality calculation results. The cluster analysis results of this scheme can automatically generate azimuth intervals and time intervals with obstruction or electromagnetic interference, providing data support for environmental intervention plans for on-site maintenance personnel based on azimuth and time series data. The data is accurate, reliable, and efficient with short processing time.

[0170] Optionally, the device further includes:

[0171] The plotting module is used to obtain the time series chart of the satellite based on the target quality parameters.

[0172] The satellite data quality inspection device in this application embodiment only plots time-series charts of target quality parameters that do not meet the preset standards in the quality calculation results, which more intuitively displays the quality inspection results of satellite data and improves the readability of the charts.

[0173] Optionally, the device further includes:

[0174] The generation module is used to generate a quality inspection report based on the quality calculation results, the cluster analysis results, and the time series chart.

[0175] The satellite data quality inspection device of this application presents the satellite data quality inspection results in the form of an inspection report. It can also filter out poor satellite data by setting preset standards and display them in the inspection report, thereby improving the readability of the inspection report.

[0176] like Figure 5 As shown, a satellite data quality inspection system 500 according to an embodiment of the present invention includes a processor 510 and a transceiver 520, wherein,

[0177] The transceiver 520 is used to acquire satellite data from the reference station. The satellite data includes observation data and ephemeris data received by the satellite at N epochs, where N is an integer greater than 1.

[0178] The processor 510 is configured to perform quality calculations on the satellite data to obtain quality calculation results, the quality calculation results including a first quality parameter, the first quality parameter being used to indicate the rate of change of the satellite's elevation angle; and

[0179] Based on the quality calculation results, the accuracy of the satellite ephemeris data is determined.

[0180] The satellite data quality inspection system of this invention acquires satellite data from a reference station; performs quality calculations on the satellite data to obtain quality calculation results, the quality calculation results including a first quality parameter, which indicates the rate of change of the satellite's elevation angle; and determines the accuracy of the satellite ephemeris data and the quality of the satellite observation data based on the quality calculation results. This application's solution, by calculating the rate of change of the satellite's elevation angle, determines the accuracy of the satellite ephemeris data, ensuring the reliability of satellite observation data quality inspection and improving the accuracy of actual satellite positioning.

[0181] Optionally, the processor 510 is further configured to:

[0182] The satellite data is converted to a preset format to obtain first satellite data.

[0183] Based on the first satellite data, calculate the approximate coordinates of the reference station;

[0184] Based on the satellite data and the approximate coordinates, the quality of the satellite data is calculated to obtain the quality calculation result.

[0185] Optionally, the processor 510 is further configured to:

[0186] Determine whether the first and second quality parameters in the quality calculation results meet the preset standards;

[0187] If either the first quality parameter or the second quality parameter does not meet the preset standard, then the satellite data is determined to contain an error.

[0188] Optionally, the processor 510 is further configured to:

[0189] The second quality parameter is sampled according to the time series to obtain the third quality parameter, and the third quality parameter is saved.

[0190] Optionally, the processor 510 is further configured to:

[0191] Perform cluster analysis on the target quality parameters and output the cluster analysis results;

[0192] The clustering analysis results include:

[0193] The target quality parameters correspond to the time interval and azimuth interval of the satellite data.

[0194] Optionally, the processor 510 is further configured to:

[0195] Based on the target quality parameters, a time series chart of the satellite is obtained.

[0196] Optionally, the processor 510 is further configured to:

[0197] A quality inspection report is generated based on the quality calculation results, the cluster analysis results, and the time series chart.

[0198] A mobile terminal according to an embodiment of the present invention, such as Figure 6 As shown, it includes a transceiver 610, a processor 600, a memory 620, and a program or instructions stored in the memory 620 and executable on the processor 600; when the processor 600 executes the program or instructions, it implements the above-mentioned quality detection method applied to satellite data.

[0199] The transceiver 610 is used to receive and send data under the control of the processor 600.

[0200] Among them, Figure 6 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 600 and memory represented by memory 620 together. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. Transceiver 610 can be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium. For different user equipment, user interface 630 can also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc.

[0201] The processor 600 is responsible for managing the bus architecture and general processing, while the memory 620 can store the data used by the processor 600 when performing operations.

[0202] The mobile terminal in this embodiment of the invention acquires satellite data from a reference station; performs quality calculations on the satellite data to obtain quality calculation results, the quality calculation results including a first quality parameter, which indicates the rate of change of the satellite's elevation angle; and determines the accuracy of the satellite ephemeris data and the quality of the satellite observation data based on the quality calculation results. This application's solution, by calculating the rate of change of the satellite's elevation angle, determines the accuracy of the satellite ephemeris data, ensuring the reliability of satellite observation data quality detection and improving the accuracy of actual satellite positioning.

[0203] An embodiment of the present invention provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the steps in the satellite data quality detection method described above and achieve the same technical effect. To avoid repetition, further details are omitted here.

[0204] The processor mentioned above is the processor used in the satellite data quality detection method described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0205] It should be further noted that the terminals described in this specification include, but are not limited to, smartphones, tablets, etc., and many of the functional components described are referred to as modules in order to emphasize the independence of their implementation.

[0206] In this embodiment of the invention, the module can be implemented in software so that it can be executed by various types of processors. For example, an identified executable code module may include one or more physical or logical blocks of computer instructions, which may be constructed as objects, procedures, or functions. Nevertheless, the executable code of the identified module does not need to be physically located together, but may include different instructions stored in different bits, which, when logically combined, constitute the module and achieve the module's intended purpose.

[0207] In practice, an executable code module can be a single instruction or many instructions, and can even be distributed across multiple different code segments, different programs, and across multiple memory devices. Similarly, operational data can be identified within the module and can be implemented in any suitable form and organized within any suitable type of data structure. This operational data can be collected as a single dataset or distributed across different locations (including different storage devices), and can exist, at least in part, solely as electronic signals within the system or network.

[0208] When a module can be implemented using software, considering the current level of hardware technology, modules that can be implemented in software can be implemented using hardware circuits by those skilled in the art to achieve the corresponding functions, without considering cost. These hardware circuits include conventional very-large-scale integrated circuits (VLSI) or gate arrays, as well as existing semiconductors such as logic chips and transistors, or other discrete components. Modules can also be implemented using programmable hardware devices, such as field-programmable gate arrays, programmable array logic, and programmable logic devices.

[0209] The exemplary embodiments described above are with reference to the accompanying drawings. Many different forms and embodiments are feasible without departing from the spirit and teachings of the invention. Therefore, the invention should not be construed as limiting the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided to make the invention complete and convey the scope of the invention to those skilled in the art. In these drawings, component dimensions and relative dimensions may be exaggerated for clarity. The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. As used herein, unless clearly indicated otherwise, the singular forms “a,” “an,” and “the” are intended to include all such forms. It will be further understood that the terms “comprising” and / or “including”, when used in this specification, indicate the presence of the stated features, integers, steps, operations, components, and / or elements, but do not exclude the presence or addition of one or more other features, integers, steps, operations, components, and / or groups thereof. Unless otherwise indicated, when stated, a range of values ​​includes the upper and lower limits of the range and any subranges in between.

[0210] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for quality inspection of satellite data, characterized in that, include: Acquire satellite data from the reference station, the satellite data including observation data and ephemeris data received by the satellite at N epochs, where N is an integer greater than 1; The satellite data is subjected to quality calculation to obtain quality calculation results, the quality calculation results including a first quality parameter, the first quality parameter being used to indicate the rate of change of the satellite's elevation angle; Based on the quality calculation results, the accuracy of the satellite ephemeris data is determined; The process of performing quality calculations on the satellite data to obtain quality calculation results includes: The satellite data is converted to a preset format to obtain first satellite data in a preset format; wherein, the preset format includes: RTCM format; Based on the first satellite data, calculate the approximate coordinates of the reference station; Based on the satellite data and the approximate coordinates, the quality of the satellite data is calculated to obtain the quality calculation result; Specifically, based on the satellite data and the approximate coordinates, the quality of the satellite data is calculated to obtain the quality calculation result, which includes: Based on the satellite data and the approximate coordinates of the reference station, calculate the elevation angle of the satellite over N epochs; and calculate the rate of change of the satellite's elevation angle. Wherein, the first satellite data and the rate of change of the satellite's elevation angle = (the elevation angle of the satellite at the current moment - the elevation angle of the satellite at the previous moment) / (the current epoch - the previous epoch).

2. The satellite data quality inspection method according to claim 1, characterized in that, The quality calculation result also includes at least one second quality parameter; Determining the accuracy of the satellite data based on the quality calculation results includes: Determine whether the first quality parameter and the second quality parameter in the quality calculation result meet the preset standard; If either the first quality parameter or the second quality parameter does not meet the preset standard, then the satellite data is determined to contain an error.

3. The satellite data quality inspection method according to claim 2, characterized in that, The second quality parameter includes at least one of the following: The completeness rate, multipath value, cycle slip ratio, average signal-to-noise ratio, ionospheric residual combination change rate, and MW combination difference of satellite data within a preset time period.

4. The satellite data quality inspection method according to claim 3, characterized in that, After obtaining the quality calculation results, the process includes: The second quality parameter is sampled according to the time series to obtain the third quality parameter, and the third quality parameter is saved.

5. The satellite data quality inspection method according to claim 3, characterized in that, The determination of whether the first quality parameter and the second quality parameter in the quality calculation result meet the preset standard includes at least one of the following: If the rate of change of the satellite's elevation angle is greater than the first threshold, then it is determined that the rate of change of the satellite's elevation angle does not meet the preset standard. If the integrity rate of the satellite data is less than the second threshold, then it is determined that the integrity rate of the satellite data does not meet the preset standard. If the cycle slip ratio of the satellite data is less than the third threshold, then it is determined that the cycle slip ratio of the satellite data does not meet the preset standard.

6. The satellite data quality inspection method according to claim 2, characterized in that, After determining that the satellite data contains errors, the method further includes: Perform cluster analysis on the target quality parameters and output the cluster analysis results; The clustering analysis results include: The target quality parameters correspond to the time interval and azimuth interval of the satellite data.

7. The satellite data quality inspection method according to claim 6, characterized in that, The method further includes: Based on the target quality parameters, a time series chart of the satellite is obtained.

8. The satellite data quality inspection method according to claim 7, characterized in that, The method further includes: A quality inspection report is generated based on the quality calculation results, the cluster analysis results, and the time series chart.

9. A satellite data quality inspection device, characterized in that, include: The acquisition module is used to acquire satellite data from the reference station. The satellite data includes observation data and ephemeris data received by the satellite at N epochs, where N is an integer greater than 1. The calculation module is used to perform quality calculations on the satellite data and obtain quality calculation results. The quality calculation results include a first quality parameter, which is used to indicate the rate of change of the satellite's elevation angle. The determination module is used to determine the accuracy of the satellite ephemeris data based on the mass calculation results; The computing module is also used for: The satellite data is converted to a preset format to obtain first satellite data in a preset format; wherein, the preset format includes: RTCM format; Based on the first satellite data, calculate the approximate coordinates of the reference station; Based on the satellite data and the approximate coordinates, the quality of the satellite data is calculated to obtain the quality calculation result; Specifically, based on the satellite data and the approximate coordinates, the quality of the satellite data is calculated to obtain the quality calculation result, which includes: Based on the satellite data and the approximate coordinates of the reference station, calculate the elevation angle of the satellite over N epochs; and calculate the rate of change of the satellite's elevation angle. Wherein, the first satellite data and the rate of change of the satellite's elevation angle = (the elevation angle of the satellite at the current moment - the elevation angle of the satellite at the previous moment) / (the current epoch - the previous epoch).

10. The satellite data quality inspection device according to claim 9, characterized in that, The quality calculation result also includes at least one second quality parameter; The determining module includes: The judgment unit is used to determine whether the first quality parameter and the second quality parameter in the quality calculation result meet the preset standard. The determining unit is configured to determine that the satellite data contains an error if either the first quality parameter or the second quality parameter does not meet the preset standard.

11. The satellite data quality inspection device according to claim 10, characterized in that, The device further includes: The storage module is used to sample the second quality parameter according to the time series to obtain the third quality parameter, and to store the third quality parameter.

12. The satellite data quality inspection device according to claim 10, characterized in that, The judgment unit is further configured to: If the rate of change of the satellite's elevation angle is greater than a first threshold, then it is determined that the rate of change of the satellite's elevation angle does not meet the preset standard. If the integrity rate of the satellite data is less than the second threshold, then it is determined that the integrity rate of the satellite data does not meet the preset standard. If the cycle slip ratio of the satellite data is less than the third threshold, then it is determined that the cycle slip ratio of the satellite data does not meet the preset standard.

13. The satellite data quality inspection device according to claim 10, characterized in that, The device further includes: The analysis module is used to perform cluster analysis on the target quality parameters and output the cluster analysis results; The clustering analysis results include: The target quality parameters correspond to the time interval and azimuth interval of the satellite data.

14. The satellite data quality inspection device according to claim 13, characterized in that, The device further includes: The plotting module is used to obtain the time series chart of the satellite based on the target quality parameters.

15. The satellite data quality inspection device according to claim 14, characterized in that, The device further includes: The generation module is used to generate a quality inspection report based on the quality calculation results, the cluster analysis results, and the time series chart.

16. A satellite data quality inspection system, characterized in that, include: Transceiver and processor; The transceiver is used to acquire satellite data from the reference station. The satellite data includes observation data and ephemeris data received by the satellite at N epochs, where N is an integer greater than 1. The processor is used to perform quality calculations on the satellite data to obtain quality calculation results, the quality calculation results including a first quality parameter, the first quality parameter being used to indicate the rate of change of the satellite's elevation angle; and to determine the accuracy of the satellite ephemeris data based on the quality calculation results; The processor is also used for: The process of performing quality calculations on the satellite data to obtain quality calculation results includes: The satellite data is converted to a preset format to obtain first satellite data in a preset format; wherein, the preset format includes: RTCM format; Based on the first satellite data, calculate the approximate coordinates of the reference station; Based on the satellite data and the approximate coordinates, the quality of the satellite data is calculated to obtain the quality calculation result; Specifically, based on the satellite data and the approximate coordinates, the quality of the satellite data is calculated to obtain the quality calculation result, which includes: Based on the satellite data and the approximate coordinates of the reference station, calculate the elevation angle of the satellite over N epochs; and calculate the rate of change of the satellite's elevation angle. Wherein, the first satellite data and the rate of change of the satellite's elevation angle = (the elevation angle of the satellite at the current moment - the elevation angle of the satellite at the previous moment) / (the current epoch - the previous epoch).

17. A mobile terminal, comprising: A transceiver, a processor, a memory, and a program or instructions stored in the memory and executable on the processor; characterized in that, when the processor executes the program or instructions, it implements the satellite data quality detection method as described in any one of claims 1-8.

18. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps in the satellite data quality inspection method as described in any one of claims 1-8.

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